Vision and IMU Data Fusion: Closed-Form Determination of the Absolute Scale, Speed, and Attitude

  • Agostino Martinelli
  • Roland Siegwart


This chapter describes an algorithm for determining the speed and the attitude of a sensor assembling constituted by a monocular camera and inertial sensors (three orthogonal accelerometers and three orthogonal gyroscopes). The system moves in a 3D unknown environment. The algorithm inputs are the visual and inertial measurements during a very short time interval. The outputs are the speed and attitude, the absolute scale and the bias affecting the inertial measurements. The determination of these outputs is obtained by a simple closed-form solution which analytically expresses the previous physical quantities in terms of the sensor measurements. This closed-form determination allows performing the overall estimation in a very short time interval and without the need of any initialization or prior knowledge. This is a key advantage since allows eliminating the drift on the absolute scale and on the orientation. The performance of the proposed algorithm is evaluated with real experiments.


Pitch Angle Extend Kalman Filter Vehicle Speed Angular Speed Inertial Sensor 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag London Ltd. 2012

Authors and Affiliations

  1. 1.INRIAINRIA Rhone Alpes, avenue de l’EuropeGrenoble, MontbonnotFrance
  2. 2.Inst.f. Robotik u. Intelligente SystemeETHZZurichSwitzerland

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